Shifting process control and method for coordinating shifting processes

ABSTRACT

The present invention relates to a shift sequence control to coordinate shifting, which corresponds to changes of constellations in a transmission. A change of the constellations yields a change of the force transfer of the transmission. The sequence of shifting takes place program-controlled and is subdivided into phases (0, 1, 2, 3, 4, 5, 6, 7). The sequence includes the driving of a plurality of actuating elements and each of the phases is assigned at least one type of drive for at least one actuating element.  
     According to the invention, it is provided that the phases (0, 1, 2, 3, 4, 5, 6, 7) can be configured without changing the program.  
     Furthermore, the present invention relates to a method for coordinating shifting sequences.

[0001] The present invention relates to a shift sequence control forcoordinating shifting, which corresponds to changes of constellations ina transmission. A change of the constellation results in a change of theforce transfer of the transmission and the sequence of the shiftingtakes place via program control and is subdivided into phases which areassigned at least one type of drive for at least one actuator element.The sequence includes the control of a plurality of actuators.Furthermore, the present invention relates to a method for coordinatingshift sequences which correspond to changes of constellations in atransmission. A change of the constellation results in a change of theforce transfer of the transmission. In the method, the sequence ofshifting takes place via a program control and is subdivided into phasesin which at least a type of drive is assigned for at least one actuator.The sequence includes the driving of a plurality of actuators.

STATE OF THE ART

[0002] DE 19937455 A1 discloses a related arrangement and a relatedmethod for coordinating the control of the drive train of a motorvehicle during transmission shifting operations. This publicationconcerns the coordinated control of the elements “servoclutch”, “vehicleengine” and “transmission” during a change of the transmission ratio.These elements are arranged in the drive train of a motor vehicle. Eachof these elements of the drive train is assigned a driver stage, whichis connected to the coordination means. According to the above-mentionedpublication, the coordination means selectively issues either desiredvalues for adjusting an engine output torque or a clutch input torque ordesired values for adjusting an engine output rpm or a transmissioninput rpm during the change of the transmission ratio of the enginedriver stage. Furthermore, desired values for adjusting a transmissionratio are transferred to the transmission driver stage by thecoordination means. DE 19937455 A1 relates therefore to a shift sequencecontrol for an automated shift transmission. Three phases (torquereduction, gear change, torque build-up) are provided, which are adaptedprecisely to the automated shift transmission. A disadvantage of theknown shift sequence control or the known method is that this shiftsequence control or this method cannot be or can be adapted only withgreat complexity to other transmission types such as a stepped automaticor a continuously variable transmission (CVT).

ADVANTAGES OF THE INVENTION

[0003] According to the present invention, it is provided that thephases can be configured without a change of the program. For thisreason, the shift sequence control according to the invention can beused for different transmission types as well as within a transmissiontype for different configurations. The change of the program takes placeespecially in the context of present functions.

[0004] In the shift sequence control according to the invention, it ispreferably provided that at least some of the phases are assignedcriteria whose satisfaction leads to an end of the corresponding phase.These criteria can also be characterized as trigger functions and can bemade available to a specific project and with corresponding parameterfunctions. The criteria or trigger functions are provided with data viathe parameter functions. In this way, a user has, for example, thepossibility to select one or several trigger functions and thecorresponding parameters functions in a data table via an index for thedefinition of a phase. In this way, the entire shift sequence can befreely configured via the phase definition without program changes beingnecessary.

[0005] The criteria include preferably time criteria. Such time criteriacan, for example, lead to the end of a phase when a pregiven time spanis exceeded. The start of a pregiven time span can, for example, beplaced at the SS point, the SB point, the SF point or the SE point. TheSS point is the start point of the actual shift operation which can bedefined as that point at which a decision was made to start the actualshift type. The SB point is the time point at which the shifting isbegun. This time point can be defined as a time point at which thechange of the transmission ratio begins (leaving the synchronous rpm).The SF point identifies a time point at which the next state of thetransmission ratio is reached, that is, the synchronous time point.Finally, the SE point identifies the shifting end at which the dynamicstates of the transmission are completed and the next static state ofthe transmission can be selected.

[0006] The time criteria can consider one or several of the followingmeasured or estimated times: time to reach or leave a synchronous rpm;time to start or end of a shift phase; time until a pregiven pressure isreached or left. Furthermore, it is conceivable that only the time ismonitored which has elapsed since the start of a specific phase.

[0007] In addition to the time criteria, the criteria preferably furtherinclude event criteria. An the event criterion of this kind is, as arule, satisfied when a correspondingly monitored physical variable hasreached a pregiven value. Here, not all the monitoring of thetransmission itself but also the monitoring variables is considered,which concern any number of additional vehicle components.

[0008] The event criteria can, for example, consider one or several ofthe following variables and/or their time-dependent derivations: enginerpm, transmission ratio, synchronous rpm, thrust forces, accelerationtorques, accelerator pedal position, turbine rpm, output rpm, et cetera.In this context, it can likewise be advantageous to combine timecriteria and event criteria in a suitable manner.

[0009] The actuator elements, which are controlled during the phases,can, for example, include: pressure controller valves and/or magneticvalves and/or step motors and/or internal combustion engine controlmeans. For some actuator elements, it can be provided that they providefeedback which can correspond to the fulfillment of a criterion so thata feedback of this kind can cause, for example, a change of a phase. Forexample, in some stepped automatics having brake pads, a switch isprovided which detects the black-white position “brake band applied” or“brake band not applied” and supplies a corresponding feedback.

[0010] In the shift sequence control of the invention, it is preferablyprovided that at least some of the phases and/or some of the criteriaare at least assigned a sequence phase, which is run through at the endof the phase or when a criterion is satisfied. In this way, anddepending upon the operating state, a branching to an appropriate phasecan be made.

[0011] In the shift sequence control of the invention, the configurationof the phases takes place preferably by data which define the type ofdrive and/or the criteria and/or the sequence phases. In this context,it is preferably further provided that the data at least are adaptableto different transmission types and transmission manufacturing series.

[0012] The data can, for example, be in the form of tables, which makepossible a change of the phase control without program change.

[0013] In the shift sequence control of the invention, it can further beprovided that state quantities are detected and that, based on thesestate quantities, a shift strategy is selected to which predeterminedphases are assigned. In this context, it is, for example, possible todetect the driving style of a driver and to assign a shift strategyadapted to this driving style.

[0014] The state quantities can, for example, be the current gear and/orthe target gear (which can, for example, be determined via the drivercommand) and/or the vehicle speed and/or the engine torque.

[0015] To adapt the shift sequence control of the invention in a simplemanner to different transmission types and transmission manufactureseries, it is preferably provided that the shift strategies can beconfigured without changing the program in the context of the functionswhich are available.

[0016] For this purpose, the data preferably also define assignments ofphases to shift strategies. In this context too, it is possible toprovide the data in the form of tables.

[0017] At least one of the actuator elements can be an active actuatorelement which can request the end of a phase. “Request”, in thiscontext, is understood to mean that a corresponding signal of anactuator must not lead inexorably to the end of a phase but that thisend of the phase is dependent upon other criteria.

[0018] With the method of the invention for coordinating shiftsequences, it is provided that the phases are defined by data which arechangeable without changing the program. In this way, a method is madeavailable which is adaptable in a simple manner to differenttransmission types and transmission manufacture series.

[0019] With the method of the invention, it is preferably provided that,via the data, at least to some of the phases “criteria” are assignedwhose satisfaction leads to an end of the corresponding phase. In themethod of the invention too, the criteria or trigger functions can bemade available to a specific project and with corresponding parameterfunctions. Attention is directed to the corresponding description incombination with the shift sequence control according to the invention.

[0020] Also in this context, the criteria include preferably timecriteria. The start of the time spans, which are fixed by the timecriteria, can be coincident here also with the SS pont, the SB point,the SF point or the SE point, which have already been explained.

[0021] As in the shift sequence control according to the invention, thetime criteria can also consider in the method of the invention one orseveral of the following measured or estimated times: time up toreaching or leaving a synchronous rpm, time up to the start or the endof a shift phase, time up to reaching or leaving a pregiven pressure. Inthis context, reference is made to the above explanations in connectionwith the shift sequence control.

[0022] In the method of the invention, the criteria preferably includeevent criteria.

[0023] Likewise, as in the shift sequence control of the invention,these can be formed, for example, via one or several of the followingquantities and/or their time-dependent derivations: engine rpm,transmission ratio, synchronous rpm, thrust forces, accelerationtorques, accelerator pedal position, turbine rpm, output rpm.

[0024] The data provided by the invention include preferably drive datafor actuating elements which can be formed by pressure controller valvesand/or magnetic valves and/or step motors and/or internal combustionengine control means. It can be advantageous also in connection with themethod of the invention to provide the data in the form of correspondingtables.

[0025] At least to some of the phases or some of the criteria preferablyat least one sequence phase is assigned via the data, which sequencephase is run through at the end of the phase or with the satisfaction ofa criterion. In this way, the method of the invention can branch torespective appropriate phases.

[0026] In order to obtain a useability of the method of the invention asuniversal as possible, the data are adaptable, preferably in a simplemanner, to different transmission types and transmission manufactureseries. The correspondingly adapted data are preferably made availablevia suitable memory media.

[0027] Likewise, as in the shift sequence control of the invention,state quantities can be detected also in the method of the invention anda suitable shift strategy can be selected based on these statequantities to which predetermined phases are assigned. Here too, thestate quantities can include the current gear and/or the target gearand/or the vehicle speed and/or the engine torque. The shift strategiesare preferably configurable via the data without changes of the programand the data define the assignment of phases to shift strategies. Toavoid repetitions, reference can be made to the correspondingexplanations in connection with the shift sequence control of theinvention.

DRAWINGS

[0028] The invention will be explained in greater detail in thefollowing with respect to the corresponding drawings.

[0029]FIG. 1 shows the interaction of an embodiment of the shiftsequence control of the invention with engine intervention means, adrive for the pressure control valves, and a magnetic valve control;

[0030]FIG. 2 shows a flowchart which illustrates the change of a phasein dependence upon the satisfaction of a criterion;

[0031]FIG. 3 shows a flowchart which explains the change of a phase independence upon time criteria and event criteria;

[0032]FIG. 4 shows an example for a definition of phases for theoperation of an upshift;

[0033]FIG. 5 shows an example of an rpm trace for a pull upshiftoperation wherein an upshift is from the second gear to the third gearwith a phase definition according to FIG. 4;

[0034]FIG. 6 is an example for the definition of phases for theoperation of a downshift;

[0035]FIG. 7 shows an example of an rpm trace for a pull downshiftoperation wherein there is a shift from the fourth gear into the secondgear with a phase definition according to FIG. 6;

[0036]FIG. 8 is an example for the definition of phases for anintervention operation for a shifting from N to Dx or from N to R; and,

[0037]FIG. 9 is a further example for the definition of phases for anintervention operation for a shift to R to D or from D to R.

DESCRIPTION OF THE EMBODIMENTS

[0038]FIG. 1 shows the interaction of an embodiment of the shiftsequence control of the invention with engine intervention means, adrive for the pressure controller valves and a magnetic valve drive.

[0039] In the following, the following reference numerals are used:

[0040]10 shift sequence control;

[0041]20 engine intervention means;

[0042]30 drive pressure controller valve;

[0043]40 magnetic valve control; and,

[0044]50 transmission.

[0045] In this embodiment, the components of an actuator element lie onthe same structural plane. As indicated in FIG. 1 by the double arrow,so-called active actuator elements are provided in the form of the driveof the pressure controller valves. These active actuator elementsintervene actively in the shift sequence control. The actuator elementsrequest, depending upon their state, the further shifting of the phase.According to the illustration, the shift sequence control is integratedinto the component “transmission” because of their close interaction.The same applies to the engine intervention means, which are, forexample, responsible for a torque request and the magnetic valvecontrol. For example, in a stepped automatic, the torque intervention isclosely connected to the pressure control and serves to support thepressure controller valves. The structure shown in FIG. 1 likewise makespossible an independent torque intervention as it can be required, forexample, in an automated shift transmission.

[0046]FIG. 2 shows a flowchart which explains the change of a phase independence upon the satisfaction of a criterion.

[0047] The blocks are assigned the following content:

[0048] block 100: normal operation in phase x;

[0049] block 101: select criterion;

[0050] block 102: criterion satisfied;

[0051] block 103: inform all components as to phase change;

[0052] block 104: go to sequence phase.

[0053] In block 100, the normal operation takes place in a phase xwhich, for example, can be formed by one of the phases 0, 1, 2, 3, 4, 5,6 or 7, which will be explained hereinafter (it is understood that, inpractice, also another number of phases can be used). Starting from thisblock 100, one reaches block 101, wherein a criterion is selected. Thiscriterion can, for example, be formed by a suitable time criterionand/or a suitable event criterion. In block 102, a check is made as towhether the criterion, which was selected in block 101, is satisfied oris not satisfied. If it is determined in block 102 that the criterion issatisfied, then all participating components are informed via block 103that a phase change is to come. Thereafter, in block 104, the change toa suitable sequence phase is triggered, which then forms the normaloperation in block 100. If it is determined in block 102 that thecriterion is not satisfied, then there is a direct return to block 100without a change to a sequence phase being triggered.

[0054]FIG. 3 shows a flowchart which explains the change of a phase independence upon time criteria and event criteria.

[0055] The blocks have the following content:

[0056] block 201: determine time criterion;

[0057] block 202: time criterion satisfied?

[0058] block 203: determine event criterion;

[0059] block 204: determine additional criterion;

[0060] block 205: event criterion satisfied?

[0061] block 206: additional criterion satisfied?

[0062] block 207: remain in current phase;

[0063] block 208: criterion=2;

[0064] block 209: criterion=3;

[0065] block 210: criterion=4;

[0066] block 211: go to sequence phase.

[0067] In block 201, a time criterion is determined. This time criterioncan, for example, fix: the time to reaching or leaving a synchronousrpm; the time up to the start or end of an overrun phase; the time toreaching or leaving a pregiven pressure; or, the time provided for aspecific phase. In block 202, a check is made as to whether the timecriterion, which is determined in block 201, is satisfied or not. If thetime criterion is not satisfied, then there is a branching to block 205,wherein an event criterion is checked which was determined in block 203.The event criterion, which was determined in block 203, can, forexample, concern the engine rpm; the transmission ratio; synchronousrpm; thrust forces; acceleration torques; or the accelerator pedalposition. If it is determined in block 205 that the event criterion,which was determined in block 203, is not satisfied, then there is abranching to block 206 wherein a check is made as to whether anadditional criterion, determined block 204, is satisfied, which can berequired in some transmission types. The additional criteria areunderstood, for example, to be transmission-specific sensors. Such asensor can, for example, supply the feedback signal of a brake band. Ifit is determined in block 206 that the additional criterion is also notsatisfied, there is a branching to block 207, which determines that thecurrent phase is maintained. If it is determined in block 202 that thetime criterion is satisfied, then a variable CRITERION is set to 2 inblock 208 and then there is a branching to block 211, which states thatthere has to be a change to a sequence phase. If it is determined inblock 205 that the event criterion is satisfied, then the variableCRITERION is set in block 209 to 3 and there is then a branching toblock 211. Correspondingly, the variable CRITERION in block 210 is setto 4 and there is a branching to block 211 if it is determined in block206 that the additional criterion is satisfied.

[0068] In FIGS. 4 to 9, the following abbreviations or designations areused:

[0069] SS start point of the current shift operation which is defined asthe point at which a decision is made to start the current shift type;

[0070] SB time point at which the shifting is started. This time pointis defined as a time point at which the change of the transmission ratiois started (leaving the synchronous rpm);

[0071] SF time point at which the next state of the transmission ratiois reached, that is, the synchronous time point;

[0072] SE the time point of the end of shifting at which the dynamicstates of the transmission are completed and the next static state ofthe transmission can be selected.

[0073]FIG. 4 is an example of a possible phase definition for theoperation of upshifting. A short description of the corresponding phasesas well as the particular normal end criterion is evident from thefollowing Table I. The term “blowup” identifies an unwanted state in thetransmission wherein the pressure conditions are not optimal. This stateis also characterized as a tearing-up of the transmission. Furthermore,the turbine rpm identifies the rpm at the transmission input (ifappropriate, after a converter). TABLE I Phase Description Normal EndCriterion 0 Charging phase in which as a rule, time criteria clutchesare filled or released 1 Relaxation phase Time criteria or eventcriteria of the pressure control 2 Await first reaction Blowup 3 Waitfor shift start Leaving synchronous rpm 4 Shift operations runningSpecific spacing from the synchronous rpm is attained (either estimatedtime criterion or turbine rpm criterion) 5 Preparation phase beforeSynchronous rpm is attained reaching the synchronous rpm 6 Here not used7 Control after reaching the Shift operation is completed synchronousrpm

[0074]FIG. 5 shows an example of the rpm trace for a pull upshiftoperation (wherein there is an upshift from the second gear into thethird gear) for a phase definition according to FIG. 4 or Table I. InFIG. 5, the absolute rpm(s) are characterized by n_(i); whereas, thetime intervals are identified by ti. The following values apply for therpm trace shown in FIG. 5: t₀=80 ms, t₁=120 ms, t₂=150 ms, t₅=100 ms, t₇=100 ms, n ₁=20 1/min, n₃=20 1/min, n₄=100 1/min, n₅=0 1/min.

[0075]FIG. 6 shows an example of a possible phase definition for theoperation of downshifting. A short description of the correspondingphases as well as the particular normal end criterion are given in thefollowing Table II. TABLE II Phase Description Normal End Criterion 0Charging phase in which as a rule, time criterion clutches are filled orreleased 1 Relaxation phase Time criteria or event criteria of thepressure control 2 Wait for shift start Movement out of synchronous rpm3 Shift operation running Specific distance from the synchronous rpm isattained (either estimated time criterion or turbine rpm criterion) 4Shift operation running Specific distance from the synchronous rpm isattained (either estimated time criterion or turbine rpm criterion) 5Preparatory phase in Synchronous rpm is reached advance of reaching thesynchronous rpm 6 Phase for rpm overshoots End of the phase for rpmovershoots, time criteria 7 Control after reaching the Shift operationis completed synchronous rpm

[0076]FIG. 7 shows an example of the rpm trace for a pull downshiftingoperation (wherein there is a downshift from the fourth gear into thesecond gear) for a phase definition according to FIG. 6 or Table II.

[0077] In FIG. 7, the rpm thresholds are again characterized by n_(i)and the time intervals are identified by t_(i) and the ratios of thestart rpm to the target rpm are identified by h_(i). For the rpm trace,which is shown in FIG. 7, the following values apply: t₀=60 ms, t₆=100ms, t₇=100 ms, n₁=25 1/min, n₄=20 1/min, h₂=70% and h₃=20%.

[0078]FIG. 8 shows an example for the definition of phases for anintervention operation in a shifting from N (neutral) to D_(x) (drive)or from N (neutral) to R (reverse).

[0079]FIG. 9 shows a further example for the definition of phases for anintervention operation wherein there is a shifting from R (reverse) to D(drive) or from D (drive) to R (reverse).

[0080] The above description of the embodiments according to the presentinvention serves illustrative purposes only and not the purpose oflimiting the invention. Within the context of the invention, variouschanges and modifications are possible, without departing from the scopeof the invention or its equivalents.

1. Shift sequence control for coordinating shifting operations, whichcorrespond to changes of constellations in the transmission, wherein achange of the constellations results in a change of the force transferof the transmission and wherein the sequence of the shifting takes placeprogram-controlled and is subdivided into phases (0, 1, 2, 3, 4, 5, 6,7) with the sequence including the drive of a plurality of actuators andthe phases are each assigned at least a type of drive for at least oneactuator, characterized in that the phases (0, 1, 2, 3, 4, 5, 6, 7) canbe configured without changing the program.
 2. Shift sequence control ofclaim 1, characterized in that at least some of the phases (0, 1, 2, 3,4, 5, 6, 7) are assigned criteria whose satisfaction leads to an end ofthe corresponding phase.
 3. Shift sequence control according to one ofthe above claims, characterized in that the criteria include timecriteria.
 4. Shift sequence control according to one of the aboveclaims, characterized in that the time criteria consider one or severalof the following measured or estimated times: time up to reaching orleaving a synchronous rpm, time up to the start or end of a shift phase,time up to reaching or leaving a pregiven pressure.
 5. Shift sequencecontrol according to one of the above claims, characterized in that thecriteria include event criteria.
 6. Shift sequence control of one of theabove claims, characterized in that the event criteria take into accountone or several of the following quantities and/or their time-dependentderivatives: engine rpm, transmission ratio, synchronous rpm(s), thrustforces, acceleration torques, accelerator pedal position, turbine rpm,output rpm.
 7. Shift sequence control of one of the above claims,characterized in that actuating elements include pressure control valvesand/or magnetic valves and/or step motors and/or step motors and/orinternal combustion engine control means.
 8. Shift sequence control ofone of the above claims, characterized in that at least some of thephases and/or some of the criteria (0, 1, 2, 3, 4, 5, 6, 7) are assignedat least one sequence phase (0, 1, 2, 3, 4, 5, 6, 7), which is runthrough at the end of the phase (0, 1, 2, 3, 4, 5, 6, 7) or with thesatisfaction of a criterion.
 9. Shift sequence control of one of theabove claims, characterized in that the configuration of the phases (0,1, 2, 3, 4, 5, 6, 7) takes places via data which define the type ofdrive and/or the criteria and/or the sequence phases in the context ofavailable functions and that the data can be adapted at least todifferent types of transmission and transmission manufacture series. 10.Shift sequence control of one of the above claims, characterized in thatstate quantities are detected and that a shift strategy is selected onthe basis of these state quantities and that predetermined phases (0, 1,2, 3, 4, 5, 6, 7) are assigned to the shift strategy.
 11. Shift sequencecontrol of one of the above claims, characterized in that the statequantities include the current gear and/or the target gear and/or thevehicle speed and/or the engine torque.
 12. Shift sequence control ofone of the above claims, characterized in that the shift strategy can beconfigured without changing the program.
 13. Shift sequence control ofone of the above claims, characterized in that the data define theallocations of phases (0, 1, 2, 3, 4, 5, 6, 7) to shift strategies. 14.Shift sequence control of one of the above claims, characterized in thatat least one actuator element is an active actuator element, which canrequest the end of a phase (0, 1, 2, 3, 4, 5, 6, 7).
 15. Method forcoordinating shift sequences which correspond to changes ofconstellations in a transmission, wherein a change of the constellationsresults in a change of the force transfer of the transmission, whereinthe sequence of the shifting takes place with program control and issubdivided into phases (0, 1, 2, 3, 4, 5, 6, 7), with the sequenceincluding the control of a plurality of actuator elements, and whereinat least one type of control is assigned to at least one actuatingelement, characterized in that the phases (0, 1, 2, 3, 4, 5, 6, 7) aredefined by data which can be changed without changing the program. 16.Method of claim 15, characterized in that at least some of the phases(0, 1, 2, 3, 4, 5, 6, 7), via the data, are assigned criteria whosesatisfaction leads to the end of the corresponding phase (0, 1, 2, 3, 4,5, 6, 7).
 17. Method of one of the claims 15 to 16, characterized inthat the criteria include time criteria.
 18. Method of one of the claims15 to 17, characterized in that the time criteria consider one orseveral of the following measured or estimated times: time to reachingor leaving a synchronous rpm, time to the start or end of a shift phase,time to reaching or leaving a pregiven pressure.
 19. Method of one ofthe claims 15 to 18, characterized in that the criteria include eventcriteria.
 20. Method of one of the claims 15 to 19, characterized inthat the event criteria consider one or several of the followingquantities and/or their time-dependent derivatives: engine rpm,transmission ratio, synchronous rpm, thrust forces, acceleration torque,accelerator pedal position, turbine rpm, output rpm.
 21. Method of oneof the claims 15 to 20, characterized in that the data include drivedata for actuating elements which are formed by pressure controllervalves and/or magnetic valves and/or step motors and/or internalcombustion engine control means.
 22. Method of one of the claims 15 to21, characterized in that at least to some of the phases (0, 1, 2, 3, 4,5, 6, 7) and/or to some of the criteria, via the data, at least onesequence phase is assigned which is run through at the end of the phase(0, 1, 2, 3, 4, 5, 6, 7) or with the satisfaction of a criterion. 23.Method of one of the claims 15 to 22, characterized in that the data canbe adapted at least to different types of transmission and transmissionmanufacture series.
 24. Method of one of the claims 15 to 23,characterized in that the state quantities are detected and that, basedon these state quantities, a shift strategy is selected to whichpredetermined phases are assigned.
 25. Method of one of the claims 15 to24, characterized in that the state quantities include the current gearand/or the target gear and/or the vehicle speed and/or the enginetorque.
 26. Method of one of the claims 15 to 25, characterized in thatthe shift strategies are configured via the data without change of theprogram.
 27. Method of one of the claims 15 to 26, characterized in thatthe data define the assignments of phases (0, 1, 2, 3, 4, 5, 6, 7) toshift strategies.